﻿// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*!
 * @file HandMessageSubscriber.h
 * This header file contains the declaration of the subscriber functions.
 *
 * This file was generated by the tool fastddsgen.
 */


#ifndef _FAST_DDS_GENERATED_HANDMESSAGE_SUBSCRIBER_H_
#define _FAST_DDS_GENERATED_HANDMESSAGE_SUBSCRIBER_H_

#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>

#include "HandMessage.h"

using namespace System;


class SubListener : public eprosima::fastdds::dds::DataReaderListener
{
public:
    SubListener() {
        matched = 0;
        get_new_message = false;
    }

    ~SubListener() override = default;

    void on_data_available(
        eprosima::fastdds::dds::DataReader* reader) override;

    void on_subscription_matched(
        eprosima::fastdds::dds::DataReader* reader,
        const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;

    int matched = 0;
    bool get_new_message = false;
    HandMessage hello_;
};


public ref class HandMessageSubscriber
{
public:

    HandMessageSubscriber();

    virtual ~HandMessageSubscriber();

    bool init();
    

    // 托管属性用于访问非托管成员变量
    property bool Avaliable{
        bool get();
        void set(bool value);
    }

    property array<Byte>^ DetValid {
        array<Byte>^ get();
    }

    property array<Byte>^ Warning {
		array<Byte>^ get();
	}

    property array<array<float>^>^ JointsL {
        array<array<float>^>^ get();
    }
    
    property array<array<float>^>^ JointsR {
        array<array<float>^>^ get();
	}

    property array<array<float>^>^ Joints3DL {
        array<array<float>^>^ get();
    }

    property array<array<float>^>^  Joints3DR {
        array<array<float>^>^ get();
    }
    
    property array<array<float>^>^ Verts3DL {
        array<array<float>^>^ get();
	}
       
    property array<array<float>^>^ Verts3DR {
        array<array<float>^>^ get();
    }

private:

    eprosima::fastdds::dds::DomainParticipant* participant_;
    eprosima::fastdds::dds::Subscriber* subscriber_;
    eprosima::fastdds::dds::Topic* topic_;
    eprosima::fastdds::dds::DataReader* reader_;
    //eprosima::fastdds::dds::TypeSupport type_;

    SubListener* listener_;

};

#endif // _FAST_DDS_GENERATED_HANDMESSAGE_SUBSCRIBER_H_